fishmarch / sp-slam Goto Github PK
View Code? Open in Web Editor NEWPoint-Plane SLAM Using Supposed Planes for Indoor Environments
License: MIT License
Point-Plane SLAM Using Supposed Planes for Indoor Environments
License: MIT License
/SP-SLAM-master/Thirdparty/g2o/g2o/types/../core/openmp_mutex.h:30:10: fatal error: ../../config.h: No such file or directory
#include "../../config.h"
^~~~~~~~~~~~~~~~
Surfel exp_update(const Eigen::Matrix<double, 6, 1> &update);
Vector6d surfel_log_error(const Surfel &newone);
Vector6d surfel_plane_error(const Surfel &newone);
These are three functions' declaration in Surfels.h.
But i cannot find the definition of these three functions in Surfels.cc.
您好,编译后使用TUM数据集测试时,报错如下:
terminate called after throwing an instance of 'std::bad_alloc'
what(): std::bad_alloc
已放弃 (核心已转储)
是我的编译有错误还是代码某处需要修改
cmakelists中已经添加了include为include目录了,但是就是找不到config.h头文件
There are some parameters in the 'optimizer.cc' file that I don't know why set them like that.
double angleInfo = Config::Get<double>("Plane.AngleInfo");
angleInfo = 3282.8/(angleInfo*angleInfo);
double disInfo = Config::Get<double>("Plane.DistanceInfo");
disInfo = disInfo* disInfo;
double parInfo = Config::Get<double>("Plane.ParallelInfo");
parInfo = 3282.8/(parInfo*parInfo);
double verInfo = Config::Get<double>("Plane.VerticalInfo");
verInfo = 3282.8/(verInfo*verInfo);
double planeChi = Config::Get<double>("Plane.Chi");
const float deltaPlane = sqrt(planeChi);
double VPplaneChi = Config::Get<double>("Plane.VPChi");
const float VPdeltaPlane = sqrt(VPplaneChi);
I don't know why use 3282.8
, 3282.8/(angleInfo*angleInfo)
, disInfo = disInfo* disInfo
,
and all parameters about Plane, like Chi
, VPChi
,VerticalInfo
.
Is there some references which explain them? I have studied about plane recently and it really confused me.
It will be very helpful if I receive your reply. Thanks!
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